[ODE] Some hints required(involvind attaching objects)

[Tatu Lahtela]

On Mon, 2003-09-01 at 16:57, DjArcas wrote:
> Tatu Wrote:
> > Hi!
> >
> > I'm creating a system that uses a 6 degree of freedom haptic
> > device(Sensable Phantom Desktop) and wer'e creating a virtual enviroment
> > for it with ODE. Our initial goal is to simulate a "gripper" that moves
> > with the haptic device and you can use that to grab objects etc..
> > So the gripper looks initially like this:
> >
> >  _________________
> > |                 |
> > |    _________    |
> > |   |         |   |
> > |   /         \   |
> > |   \         /   |
> > |   /         \   |
> > |   \         /   |
> > \___/         \___/
> >
> >  -->          <--
> >
> > The gripper moves freely in the system, and you can close the fork to
> > grab objects. Any hints on how I should create the gripper and how I
> > update it's position and rotation in the ODE. It's was relatively easy
> > to create just a single box that follows the movement of the Phantom,
> > but how should I create the grippers? Is it possible somehow to update
> > the position of the grippers attaching them to the top bar with e.g.
> > sliders and their position and rotation would be updated automatically
> > after the top bar position is updated? So that pressing the button would
> > slide the grippers and close the fork.
> >

> If I were you, I would cheat, and have the 'gripper' as a magnet, or
> something sticky. I wouldn't like to try and 'wedge' an object in place by
> squeezing it between two other objects. 
> It only has to LOOK like it's gripping the object. :)

Actually we're creating a micro system enviroment so "magnet" behavior
is actually reality because of Wan Der Waal's forces etc..
I'm still having trouble figuring out how to create the gripper.

-- 
TUT/ACI
Tatu Lahtela <lahtela@cs.tut.fi>
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